The Inverted Pendulum on

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a Cart

GROUP 3

1
 Introduction
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 Objectives
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 Motivation
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Literature Master title style
Review
The inverted pendulum cart system is a classic issue in control theory and robotics, requiring researchers to
devise effective control algorithms for stability and trajectory monitoring. This literature study will offer an
overview of current methodologies and developments in managing inverted pendulum cart systems. The
different methodologies are but not limited to:
1. Linear Quadratic Regulator (LQR)
2. Classical Control Methods
3. Fuzzy logic control
4. Nonlinear Control Techniques
5. Model Predictive Control (MPC)
6. Reinforcement Learning (RL):
7. Hybrid Control methods
8. Experimental Implementations

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Mathematical modeltitle style

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Components
• For electrical part:
• AMT 203 V Absolute Encoder
• Arduino UNO
• HCSR 04 Ultra sensor
• L298-H, H-Bridge
• DMN37 KB 24 DC MOTOR
• For mechanical part:
• Cart: To move back and forth on a horizontal plane
to hold the inverted pendulum and its components.
• Inverted Pendulum: A long, thin rod with a weight at
one end that is mounted vertically on the cart. The
rod should be able to rotate freely around its pivot
point.
• Actuators: Actuators like motors and solenoids are
used to move the rack in response to the sensor
data.
• Interface: A user interface is required to display the
status of the system and to allow the user to control
the system.
• Cables and connectors: A variety of cables and
connectors are required to connect all the
components together.
• Mounting hardware: Screws, nuts, and bolts are
used to securely mount the components to the cart.
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Budgetto edit Master title style

Item Price (N$)

8421 Encoder-Vertical 115.99
30A VNH2SP30 DC Motor Driver 153.21
Arduino UNO R3 Clone 145.00
HCSR 04 Ultra sensor 55.81
L298-H, H-Bridge 80.00
Aluminum sheets (for the cart) 185.00
Wheels (for the cart) 89.99
Screws, bolts & nuts 75.00
Total 900.00
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Plan

• This work plan provides a framework for developing and evaluating control algorithms for an inverted
pendulum cart system.
• Week 1:Project Analysis Week
• Week 2-3: System Modelling and Simulation
• Week 4-5: Controller Design and Implementation
• Week 6-7: Simulation and Performance Evaluation
• Week 8-9: Hardware Design and Integration
• Week 10: Experimental Testing and Refinement
• Week 11: Documentation and Dissemination

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